#ifndef __MODULE_CHASSISMOTOR_H__
#define __MODULE_CHASSISMOTOR_H__

#ifdef __cplusplus
 extern "C" {
#endif
#include "includes.h"
#include "Tool_PID.h"
//extern PID ChassisPID;
#define Motor1  0
#define Motor2  1
#define Motor3  2
#define Motor4  3

#define UnfollowModeYawScale 12  

#define NEW_MAIN_CONTROL
	 
#ifdef _MODULE_CHASSISMOTOR_GLOBALS
#define _MODULE_CHASSISMOTOR_EXT 
#else   
#define _MODULE_CHASSISMOTOR_EXT  extern 
#endif

void CAN_RM202_Motor_Pack_Handle(CanRxMsg *msg_rece);
void CAN_RM203_Motor_Pack_Handle(CanRxMsg *msg_rece);
void ChassisMotor_CatStep();
void ChssisMotor_Aguest(u16 Ax,u16 Ay,float Az,float _mAngle);
void ChassisMotor_Config(void);
void Motor_3510_CarFrame(int16_t current_201,int16_t current_202,int16_t current_203,int16_t current_204);
void Can1_Receive_Msg(CanRxMsg *msg_rece);
void ulan_init();
void EXTI9_5_IRQHandler(void);

_MODULE_CHASSISMOTOR_EXT PID  Move_PID202 ,Move_PID203 , Move_CommonPID, Encoder_Motor;

extern float common_position;
extern PN_PID PN_Encoder_Motor;
#ifdef __cplusplus
}
#endif
#endif
